arXiv subjects

Mingyang Li

Publications and source records attributed to Mingyang Li.

At least 37 records · Page 2Linked to original sources

arXiv2026

SpikeDet: Better Firing Patterns for Accurate and Energy-Efficient Object Detection with Spiking Neural Networks

Spiking Neural Networks (SNNs) are the third generation of neural networks. They have gained widespread attention in object detection due to their low energy consumption and biological interpretability. However, existing SNN-based object detection methods suffer from local firing saturation, where adjacent neurons concurrently reach maximum firing rates, especially in object-centric regions. This abnormal neuron firing pattern reduces the feature discrimination capability and detection accuracy, while also increasing the firing rates that prevent SNNs from achieving their potential energy efficiency. To address this problem, we propose SpikeDet, a novel spiking object detector that optimizes firing patterns for accurate and energy-efficient detection. Specifically, we design a spiking backbone network, MDSNet, which effectively adjusts the membrane synaptic input distribution at each layer, achieving better neuron firing patterns during spiking feature extraction. For the neck, to better utilize and preserve these high-quality backbone features, we introduce the Spiking Multi-direction Fusion Module (SMFM), which realizes multi-direction fusion of spiking features, enhancing the multi-scale detection capability of the model. Furthermore, we propose the Local Firing Saturation Index (LFSI) to quantitatively measure local firing saturation. Experimental results validate the effectiveness of our method. On the COCO 2017 dataset, it achieves 52.2% AP, outperforming previous SNN-based methods by 3.3% AP while requiring only half the energy consumption. On object detection sub-tasks, including event-based GEN1, underwater URPC 2019, low-light ExDARK, and dense scene CrowdHuman datasets, SpikeDet also achieves the best performance.

cs.CV↗

arXiv2026

AffordSim: A Scalable Data Generator and Benchmark for Affordance-Aware Robotic Manipulation

Many everyday robot manipulation skills are affordance-dependent, with success determined by whether the robot contacts the functional object region required by the subsequent action. Current simulation data generators obtain contacts from generic grasp estimators or per-object manual contact annotations, but generic estimators rank stable grasps without task semantics and often select contacts that are misaligned with the downstream action, while manual contact annotations must be rewritten for each new object and task. To solve these challenges, we introduce AffordSim, a scalable data generator and benchmark that integrates open-vocabulary 3D affordance prediction into simulation-based trajectory generation. Given a natural-language task description, AffordSim synthesizes a task-relevant scene, emits affordance queries, grounds them on object surfaces, samples region-conditioned grasps, and selects executable candidates with motion planning. It further randomizes object pose, texture, lighting, image noise, and cross-viewpoint backgrounds for sim-to-real transfer. We instantiate AffordSim as a 50-task benchmark across diverse manipulation skills, five robot embodiments, and 500+ rigid and articulated objects. AffordSim achieves 93% of the trajectory collection success rate of manual contact annotations on affordance-critical tasks and 89% on hard composite tasks. Vision-language-action policies trained on AffordSim data transfer zero-shot to a real Franka FR3, reaching 24% average success.

cs.RO↗

arXiv2026

Detecting active Lévy particles using differential dynamic microscopy

Detecting Lévy flights of cells has been a challenging problem in experiments. The challenge lies in accessing data in spatiotemporal scales across orders of magnitude, which is necessary for reliably extracting a power-law scaling. Differential dynamic microscopy has been shown to be a powerful method that allows one to acquire statistics of cell motion across scales, which is a potentially versatile method for detecting Lévy walks in biological systems. In this article, we extend the differential dynamic microscopy method to self-propelled Lévy particles, whose run-time distribution has an algebraic tail. We validate our protocol using synthetic imaging data and show that a reliable detection of active Lévy particles requires accessing length scales of an order of magnitude larger than its persistence length, if the variability in particle speed is moderate. Applying the protocol to experimental data of E. coli and E. gracilis, we find that E. coli does not exhibit a signature of Lévy walks, while E. gracilis is better described as active Lévy particles.

cond-mat.soft↗

arXiv2026

VoxAfford: Multi-Scale Voxel-Token Fusion for Open-Vocabulary 3D Affordance Detection

Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language models (MLLMs) with special output tokens that are decoded into segmentation masks. However, these tokens are produced through autoregressive generation, which models sequential dependencies rather than spatial neighborhood relations, leaving them semantically rich but spatially impoverished for 3D localization. We propose Voxel-enhanced Affordance detection (VoxAfford), which bypasses this bottleneck by injecting multi-scale geometric features from a frozen pre-trained 3D VQVAE encoder into the output tokens after generation. Each output token uses its affordance semantics as a query to retrieve relevant geometric patterns from its paired voxel scale via cross-attention, with a learned compatibility gate controlling the injection strength. The enhanced tokens are then aggregated into a spatially-aware affordance prompt through semantic-conditioned attention and propagated alongside per-point features to generate the final mask. Experiments on open-vocabulary affordance detection tasks show that VoxAfford achieves state-of-the-art performance with approximately an 8% improvement in mIoU, and real robot experiments confirm zero-shot transfer to novel objects.

cs.CV↗

arXiv2026

JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy

Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large differences across robot embodiments impede effective behavior knowledge transfer. To address these challenges, we propose JoyAI-RA, a vision-language-action (VLA) embodied foundation model tailored for generalizable robotic manipulation. JoyAI-RA presents a multi-source multi-level pretraining framework that integrates web data, large-scale egocentric human manipulation videos, simulation-generated trajectories, and real-robot data. Through training on heterogeneous multi-source data with explicit action-space unification, JoyAI-RA effectively bridges embodiment gaps, particularly between human manipulation and robotic control, thereby enhancing cross-embodiment behavior learning. JoyAI-RA outperforms state-of-the-art methods in both simulation and real-world benchmarks, especially on diverse tasks with generalization demands.

cs.RO↗

arXiv2026

Fall into a Pit, Gain in a Wit: Cognitive-Guided Harmful Meme Detection via Misjudgment Risk Pattern Retrieval

Internet memes have emerged as a popular multimodal medium, yet they are increasingly weaponized to convey harmful opinions through subtle rhetorical devices like irony and metaphor. Existing detection approaches, including Multimodal Large Language Model (MLLM)-based techniques, struggle with these implicit expressions, leading to frequent misjudgments. This paper introduces PatMD, a novel approach that detects harmful memes by learning from and proactively mitigating these potential misjudgment risks. Our core idea is to move beyond superficial content-level matching and instead identify the underlying misjudgment risk patterns, proactively guiding the MLLMs to avoid known misjudgment pitfalls. We first construct a knowledge base where each meme is deconstructed into a misjudgment risk pattern explaining why it might be misjudged, either overlooking harmful undertones (false negative) or overinterpreting benign content (false positive). For a given target meme, PatMD retrieves relevant patterns and utilizes them to dynamically guide the MLLM's reasoning. Experiments on a benchmark of 6,626 memes across 5 harmful detection tasks show that PatMD outperforms state-of-the-art baselines, achieving an average of 8.30% improvement in F1-score and 7.71% improvement in accuracy, while exhibiting consistent robustness on unseen and adversarial memes.

cs.LG↗

arXiv2026

All Changes May Have Invariant Principles: Improving Ever-Shifting Harmful Meme Detection via Design Concept Reproduction

Harmful memes are ever-shifting in the Internet communities, which are difficult to analyze due to their type-shifting and temporal-evolving nature. Although these memes are shifting, we find that different memes may share invariant principles, i.e., the underlying design concept of malicious users, which can help us analyze why these memes are harmful. In this paper, we propose RepMD, an ever-shifting harmful meme detection method based on the design concept reproduction. We first refer to the attack tree to define the Design Concept Graph (DCG), which describes steps that people may take to design a harmful meme. Then, we derive the DCG from historical memes with design step reproduction and graph pruning. Finally, we use DCG to guide the Multimodal Large Language Model (MLLM) to detect harmful memes. The evaluation results show that RepMD achieves the highest accuracy with 81.1% and has slight accuracy decreases when generalized to type-shifting and temporal-evolving memes. Human evaluation shows that RepMD can improve the efficiency of human discovery on harmful memes, with 15$\sim$30 seconds per meme.

cs.CV↗

arXiv2026

MapATM: Enhancing HD Map Construction through Actor Trajectory Modeling

High-definition (HD) mapping tasks, which perform lane detections and predictions, are extremely challenging due to non-ideal conditions such as view occlusions, distant lane visibility, and adverse weather conditions. Those conditions often result in compromised lane detection accuracy and reduced reliability within autonomous driving systems. To address these challenges, we introduce MapATM, a novel deep neural network that effectively leverages historical actor trajectory information to improve lane detection accuracy, where actors refer to moving vehicles. By utilizing actor trajectories as structural priors for road geometry, MapATM achieves substantial performance enhancements, notably increasing AP by 4.6 for lane dividers and mAP by 2.6 on the challenging NuScenes dataset, representing relative improvements of 10.1% and 6.1%, respectively, compared to strong baseline methods. Extensive qualitative evaluations further demonstrate MapATM's capability to consistently maintain stable and robust map reconstruction across diverse and complex driving scenarios, underscoring its practical value for autonomous driving applications.

cs.CV↗

arXiv2026

One Shot Dominance: Knowledge Poisoning Attack on Retrieval-Augmented Generation Systems

Large Language Models (LLMs) enhanced with Retrieval-Augmented Generation (RAG) have shown improved performance in generating accurate responses. However, the dependence on external knowledge bases introduces potential security vulnerabilities, particularly when these knowledge bases are publicly accessible and modifiable. While previous studies have exposed knowledge poisoning risks in RAG systems, existing attack methods suffer from critical limitations: they either require injecting multiple poisoned documents (resulting in poor stealthiness) or can only function effectively on simplistic queries (limiting real-world applicability). This paper reveals a more realistic knowledge poisoning attack against RAG systems that achieves successful attacks by poisoning only a single document while remaining effective for complex multi-hop questions involving complex relationships between multiple elements. Our proposed AuthChain address three challenges to ensure the poisoned documents are reliably retrieved and trusted by the LLM, even against large knowledge bases and LLM's own knowledge. Extensive experiments across six popular LLMs demonstrate that AuthChain achieves significantly higher attack success rates while maintaining superior stealthiness against RAG defense mechanisms compared to state-of-the-art baselines.

cs.CR↗

arXiv2026

Know Thy Enemy: Securing LLMs Against Prompt Injection via Diverse Data Synthesis and Instruction-Level Chain-of-Thought Learning

Large language model (LLM)-integrated applications have become increasingly prevalent, yet face critical security vulnerabilities from prompt injection (PI) attacks. Defending against PI attacks faces two major issues: malicious instructions can be injected through diverse vectors, and injected instructions often lack clear semantic boundaries from the surrounding context, making them difficult to identify. To address these issues, we propose InstruCoT, a model enhancement method for PI defense that synthesizes diverse training data and employs instruction-level chain-of-thought fine-tuning, enabling LLMs to effectively identify and reject malicious instructions regardless of their source or position in the context. We evaluate InstruCoT across three critical dimensions: Behavior Deviation, Privacy Leakage, and Harmful Output. Experimental results across four LLMs demonstrate that InstruCoT significantly outperforms baselines in all dimensions while maintaining utility performance without degradation

cs.AI↗

arXiv2026

JoyAI-LLM Flash: Advancing Mid-Scale LLMs with Token Efficiency

We introduce JoyAI-LLM Flash, an efficient Mixture-of-Experts (MoE) language model designed to redefine the trade-off between strong performance and token efficiency in the sub-50B parameter regime. JoyAI-LLM Flash is pretrained on a massive corpus of 20 trillion tokens and further optimized through a rigorous post-training pipeline, including supervised fine-tuning (SFT), Direct Preference Optimization (DPO), and large-scale reinforcement learning (RL) across diverse environments. To improve token efficiency, JoyAI-LLM Flash strategically balances \emph{thinking} and \emph{non-thinking} cognitive modes and introduces FiberPO, a novel RL algorithm inspired by fibration theory that decomposes trust-region maintenance into global and local components, providing unified multi-scale stability control for LLM policy optimization. To enhance architectural sparsity, the model comprises 48B total parameters while activating only 2.7B parameters per forward pass, achieving a substantially higher sparsity ratio than contemporary industry leading models of comparable scale. To further improve inference throughput, we adopt a joint training-inference co-design that incorporates dense Multi-Token Prediction (MTP) and Quantization-Aware Training (QAT). We release the checkpoints for both JoyAI-LLM-48B-A3B Base and its post-trained variants on Hugging Face to support the open-source community.

cs.CL↗

arXiv2026

The Eleventh NTIRE 2026 Efficient Super-Resolution Challenge Report

This paper reviews the NTIRE 2026 challenge on efficient single-image super-resolution with a focus on the proposed solutions and results. The aim of this challenge is to devise a network that reduces one or several aspects, such as runtime, parameters, and FLOPs, while maintaining PSNR of around 26.90 dB on the DIV2K_LSDIR_valid dataset, and 26.99 dB on the DIV2K_LSDIR_test dataset. The challenge had 95 registered participants, and 15 teams made valid submissions. They gauge the state-of-the-art results for efficient single-image super-resolution.

cs.CV↗

arXiv2026

Do VLMs Perceive or Recall? Probing Visual Perception vs. Memory with Classic Visual Illusions

Large Vision-Language Models (VLMs) often answer classic visual illusions "correctly" on original images, yet persist with the same responses when illusion factors are inverted, even though the visual change is obvious to humans. This raises a fundamental question: do VLMs perceive visual changes or merely recall memorized patterns? While several studies have noted this phenomenon, the underlying causes remain unclear. To move from observations to systematic understanding, this paper introduces VI-Probe, a controllable visual-illusion framework with graded perturbations and matched visual controls (without illusion inducer) that disentangles visually grounded perception from language-driven recall. Unlike prior work that focuses on averaged accuracy, we measure stability and sensitivity using Polarity-Flip Consistency, Template Fixation Index, and an illusion multiplier normalized against matched controls. Experiments across different families reveal that response persistence arises from heterogeneous causes rather than a single mechanism. For instance, GPT-5 exhibits memory override, Claude-Opus-4.1 shows perception-memory competition, while Qwen variants suggest visual-processing limits. Our findings challenge single-cause views and motivate probing-based evaluation that measures both knowledge and sensitivity to controlled visual change. Data and code are available at https://sites.google.com/view/vi-probe/

cs.CV↗

arXiv2026

EmoLLM: Appraisal-Grounded Cognitive-Emotional Co-Reasoning in Large Language Models

Large language models (LLMs) demonstrate strong cognitive intelligence (IQ), yet many real-world interactions also require emotional intelligence (EQ) to produce responses that are both factually reliable and emotionally appropriate. In settings such as emotional support, technical assistance, and consultation, effective dialogue depends on how situations are appraised with respect to the user's needs, goals, and coping capacity. Inspired by appraisal theory, we propose EmoLLM, an appraisal-grounded framework for IQ/EQ co-reasoning in dialogue. EmoLLM uses an explicit Appraisal Reasoning Graph (ARG) to structure intermediate reasoning over contextual facts, inferred user needs, appraisal dimensions, emotional states, and response strategies before generating a reply. We train EmoLLM in a multi-turn role-play environment with reinforcement learning, where reverse-perspective reasoning provides reward signals based on predicted user-side consequences of responses. Across diverse dialogue settings, EmoLLM improves emotional state outcomes and response quality over strong baselines while preserving strong factual reliability.

cs.CL↗

arXiv2026

Evaluation and LLM-Guided Learning of ICD Coding Rationales

ICD coding is the process of mapping unstructured text from Electronic Health Records (EHRs) to standardised codes defined by the International Classification of Diseases (ICD) system. In order to promote trust and transparency, existing explorations on the explainability of ICD coding models primarily rely on attention-based rationales and qualitative assessments conducted by physicians, yet lack a systematic evaluation across diverse types of rationales using consistent criteria and high-quality rationale-annotated datasets specifically designed for the ICD coding task. Moreover, dedicated methods explicitly trained to generate plausible rationales remain scarce. In this work, we present evaluations of the explainability of rationales in ICD coding, focusing on two fundamental dimensions: faithfulness and plausibility -- in short how rationales influence model decisions and how convincing humans find them. For plausibility, we construct a novel, multi-granular rationale-annotated ICD coding dataset, based on the MIMIC-IV database and the updated ICD-10 coding system. We conduct a comprehensive evaluation across three types of ICD coding rationales: entity-level mentions automatically constructed via entity linking, LLM-generated rationales, and rationales based on attention scores of ICD coding models. Building upon the strong plausibility exhibited by LLM-generated rationales, we further leverage them as distant supervision signals to develop rationale learning methods. Additionally, by prompting the LLM with few-shot human-annotated examples from our dataset, we achieve notable improvements in the plausibility of rationale generation in both the teacher LLM and the student rationale learning models.

cs.AI↗

arXiv2026

Demystifying the Lifecycle of Failures in Platform-Orchestrated Agentic Workflows

Agentic workflows built on low-code orchestration platforms enable rapid development of multi-agent systems, but they also introduce new and poorly understood failure modes that hinder reliability and maintainability. Unlike traditional software systems, failures in agentic workflows often propagate across heterogeneous nodes through natural-language interactions, tool invocations, and dynamic control logic, making failure attribution and repair particularly challenging. In this paper, we present an empirical study of platform-orchestrated agentic workflows from a failure lifecycle perspective, with the goal of characterizing failure manifestations, identifying underlying root causes, and examining corresponding repair strategies. We present AgentFail, a dataset of 307 real-world failure cases collected from two representative agentic workflow platforms. Based on this dataset, we analyze failure patterns, root causes, and repair difficulty for various failure root causes and nodes in the workflow. Our findings reveal key failure mechanisms in agentic workflows and provide actionable guidelines for reliable failure repair, and real-world agentic workflow design.

cs.AI↗

arXiv2026

SurgAtt-Tracker: Online Surgical Attention Tracking via Temporal Proposal Reranking and Motion-Aware Refinement

Accurate and stable field-of-view (FoV) guidance is critical for safe and efficient minimally invasive surgery, yet existing approaches often conflate visual attention estimation with downstream camera control or rely on direct object-centric assumptions. In this work, we formulate surgical attention tracking as a spatio-temporal learning problem and model surgeon focus as a dense attention heatmap, enabling continuous and interpretable frame-wise FoV guidance. We propose SurgAtt-Tracker, a holistic framework that robustly tracks surgical attention by exploiting temporal coherence through proposal-level reranking and motion-aware refinement, rather than direct regression. To support systematic training and evaluation, we introduce SurgAtt-1.16M, a large-scale benchmark with a clinically grounded annotation protocol that enables comprehensive heatmap-based attention analysis across procedures and institutions. Extensive experiments on multiple surgical datasets demonstrate that SurgAtt-Tracker consistently achieves state-of-the-art performance and strong robustness under occlusion, multi-instrument interference, and cross-domain settings. Beyond attention tracking, our approach provides a frame-wise FoV guidance signal that can directly support downstream robotic FoV planning and automatic camera control.

cs.CV↗

arXiv2026

What Quality Engineers Need to Know about Degradation Models

Degradation models play a critical role in quality engineering by enabling the assessment and prediction of system reliability based on data. The objective of this paper is to provide an accessible introduction to degradation models. We explore commonly used degradation data types, including repeated measures degradation data and accelerated destructive degradation test data, and review modeling approaches such as general path models and stochastic process models. Key inference problems, including reliability estimation and prediction, are addressed. Applications across diverse fields, including material science, renewable energy, civil engineering, aerospace, and pharmaceuticals, illustrate the broad impact of degradation models in industry. We also discuss best practices for quality engineers, software implementations, and challenges in applying these models. This paper aims to provide quality engineers with a foundational understanding of degradation models, equipping them with the knowledge necessary to apply these techniques effectively in real-world scenarios.

stat.AP↗